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Lyapunov-based Control Of Robotic Systems
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ISBN 9781420006278
REGISTERED: 04/22/18
UPDATED: 10/28/20
Lyapunov-based Control Of Robotic Systems

Lyapunov-Based Control of Robotic Systems describes nonlinear control design solutions for problems that arise from robots required to interact with and manipulate their environments


Specifications
  • Lyapunov-based Control Of Robotic Systems available on March 31 2017 from VitalSource for Https://www.vitalsource.com/en-uk/textbooks?term=9781420006278&duration=90&cjsku=9781420006278R90" itemprop="offers" target="_external" title="" itemscope itemtype="http://schema.org/Offer">44.0
  • ISBN bar code 9781420006278 ξ1 registered March 31 2017
  • Product category is Book

  • # 9781420006278R90

Since most practical scenarios require the design of nonlinear controllers to work around uncertainty and measurement-related issues, the authors use Lyapunov’s direct method as an effective tool to design and analyze controllers for robotic systems.After describing the evolution of real-time control design systems and the associated operating environments and hardware platforms, the book presents a host of standard control design tools for robotic systems using a common Lyapunov-based framework. It then discusses several problems in visual servoing control, including the design of homography-based visual servo control methods and the classic structure from motion problem. The book also deals with the issues of path planning and control for manipulator arms and wheeled mobile robots. With a focus on the emerging research area of human machine interaction, the final chapter illustrates the design of control schemes based on passivity such that the machine is a net energy sink.Including much of the authors’ own research work in controls and robotics, this book facilitates an understanding of the application of Lyapunov-based control design techniques to up-and-coming problems in robotics.


References
    ^ Lyapunov-based Control Of Robotic Systems VitalSource. (revised Mar 2017)

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